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<H4>File: <A HREF="file:///home/ying/Documents/lockheed/codegen/lib/sphere_on_sphere/Body_sphere.c" TARGET="rtwreport_document_frame">/home/ying/Documents/lockheed/codegen/lib/sphere_on_sphere/Body_sphere.c</A></H4>
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<A NAME="1"><FONT COLOR="#888888"><I>    1   </I></FONT></A><FONT COLOR="#117755"><I>/*</I></FONT>
<A NAME="2"><FONT COLOR="#888888"><I>    2   </I></FONT></A><FONT COLOR="#117755"><I> * Body_sphere.c</I></FONT>
<A NAME="3"><FONT COLOR="#888888"><I>    3   </I></FONT></A><FONT COLOR="#117755"><I> *</I></FONT>
<A NAME="4"><FONT COLOR="#888888"><I>    4   </I></FONT></A><FONT COLOR="#117755"><I> * Code generation for function 'Body_sphere'</I></FONT>
<A NAME="5"><FONT COLOR="#888888"><I>    5   </I></FONT></A><FONT COLOR="#117755"><I> *</I></FONT>
<A NAME="6"><FONT COLOR="#888888"><I>    6   </I></FONT></A><FONT COLOR="#117755"><I> * C source code generated on: Sat Oct 18 11:59:48 2014</I></FONT>
<A NAME="7"><FONT COLOR="#888888"><I>    7   </I></FONT></A><FONT COLOR="#117755"><I> *</I></FONT>
<A NAME="8"><FONT COLOR="#888888"><I>    8   </I></FONT></A><FONT COLOR="#117755"><I> */</I></FONT>
<A NAME="9"><FONT COLOR="#888888"><I>    9   </I></FONT></A>
<A NAME="10"><FONT COLOR="#888888"><I>   10   </I></FONT></A><FONT COLOR="#117755"><I>/* Include files */</I></FONT>
<A NAME="11"><FONT COLOR="#888888"><I>   11   </I></FONT></A><FONT COLOR="#992211">#</FONT><FONT COLOR="#992211"><B>include</B></FONT> <FONT COLOR="#992211">&quot;rt_nonfinite.h&quot;</FONT>
<A NAME="12"><FONT COLOR="#888888"><I>   12   </I></FONT></A><FONT COLOR="#992211">#</FONT><FONT COLOR="#992211"><B>include</B></FONT> <FONT COLOR="#992211">&quot;sphere_on_sphere.h&quot;</FONT>
<A NAME="13"><FONT COLOR="#888888"><I>   13   </I></FONT></A><FONT COLOR="#992211">#</FONT><FONT COLOR="#992211"><B>include</B></FONT> <FONT COLOR="#992211">&quot;Body_sphere.h&quot;</FONT>
<A NAME="14"><FONT COLOR="#888888"><I>   14   </I></FONT></A><FONT COLOR="#992211">#</FONT><FONT COLOR="#992211"><B>include</B></FONT> <FONT COLOR="#992211">&quot;Body.h&quot;</FONT>
<A NAME="15"><FONT COLOR="#888888"><I>   15   </I></FONT></A>
<A NAME="16"><FONT COLOR="#888888"><I>   16   </I></FONT></A><FONT COLOR="#117755"><I>/* Type Definitions */</I></FONT>
<A NAME="17"><FONT COLOR="#888888"><I>   17   </I></FONT></A>
<A NAME="18"><FONT COLOR="#888888"><I>   18   </I></FONT></A><FONT COLOR="#117755"><I>/* Named Constants */</I></FONT>
<A NAME="19"><FONT COLOR="#888888"><I>   19   </I></FONT></A>
<A NAME="20"><FONT COLOR="#888888"><I>   20   </I></FONT></A><FONT COLOR="#117755"><I>/* Variable Declarations */</I></FONT>
<A NAME="21"><FONT COLOR="#888888"><I>   21   </I></FONT></A>
<A NAME="22"><FONT COLOR="#888888"><I>   22   </I></FONT></A><FONT COLOR="#117755"><I>/* Variable Definitions */</I></FONT>
<A NAME="23"><FONT COLOR="#888888"><I>   23   </I></FONT></A>
<A NAME="24"><FONT COLOR="#888888"><I>   24   </I></FONT></A><FONT COLOR="#117755"><I>/* Function Declarations */</I></FONT>
<A NAME="25"><FONT COLOR="#888888"><I>   25   </I></FONT></A>
<A NAME="26"><FONT COLOR="#888888"><I>   26   </I></FONT></A><FONT COLOR="#117755"><I>/* Function Definitions */</I></FONT>
<A NAME="27"><FONT COLOR="#888888"><I>   27   </I></FONT></A><FONT COLOR="#112266"><B>void</B></FONT> <A NAME="fcn_Body_sphere">Body_sphere</A>(<A HREF="sphere_on_sphere_types_h.html#type_d_struct_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_d_struct_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">d_struct_T</FONT></A> *body_data, <A HREF="sphere_on_sphere_types_h.html#type_struct_T_size" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_struct_T_size');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">struct_T_size</FONT></A> *body_elems_sizes)
<A NAME="28"><FONT COLOR="#888888"><I>   28   </I></FONT></A><B>{</B>
<A NAME="29"><FONT COLOR="#888888"><I>   29   </I></FONT></A>  <A HREF="sphere_on_sphere_types_h.html#type_b_struct_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_b_struct_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">b_struct_T</FONT></A> expl_temp;
<A NAME="30"><FONT COLOR="#888888"><I>   30   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_char_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_char_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">char_T</FONT></A> t0_name[4];
<A NAME="31"><FONT COLOR="#888888"><I>   31   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_int32_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_int32_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">int32_T</FONT></A> i;
<A NAME="32"><FONT COLOR="#888888"><I>   32   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_char_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_char_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">char_T</FONT></A> t0_type[7];
<A NAME="33"><FONT COLOR="#888888"><I>   33   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t0_u[3];
<A NAME="34"><FONT COLOR="#888888"><I>   34   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t0_quat[4];
<A NAME="35"><FONT COLOR="#888888"><I>   35   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t0_J[9];
<A NAME="36"><FONT COLOR="#888888"><I>   36   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t0_nu[6];
<A NAME="37"><FONT COLOR="#888888"><I>   37   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t0_Fext[6];
<A NAME="38"><FONT COLOR="#888888"><I>   38   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t0_Aext[6];
<A NAME="39"><FONT COLOR="#888888"><I>   39   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t0_color[3];
<A NAME="40"><FONT COLOR="#888888"><I>   40   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t0_AABB_min[3];
<A NAME="41"><FONT COLOR="#888888"><I>   41   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t0_AABB_max[3];
<A NAME="42"><FONT COLOR="#888888"><I>   42   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t0_plane_normal[3];
<A NAME="43"><FONT COLOR="#888888"><I>   43   </I></FONT></A>  <FONT COLOR="#112266"><B>static</B></FONT> <FONT COLOR="#112266"><B>const</B></FONT> <A HREF="rtwtypes_h.html#type_char_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_char_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">char_T</FONT></A> cv3[6] = <B>{</B> <FONT COLOR="#1122ff">'s'</FONT>, <FONT COLOR="#1122ff">'p'</FONT>, <FONT COLOR="#1122ff">'h'</FONT>, <FONT COLOR="#1122ff">'e'</FONT>, <FONT COLOR="#1122ff">'r'</FONT>, <FONT COLOR="#1122ff">'e'</FONT> <B>}</B>;
<A NAME="44"><FONT COLOR="#888888"><I>   44   </I></FONT></A>
<A NAME="45"><FONT COLOR="#888888"><I>   45   </I></FONT></A>  <FONT COLOR="#112266"><B>static</B></FONT> <FONT COLOR="#112266"><B>const</B></FONT> <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> y[9] = <B>{</B> 1.6, 0.0, 0.0, 0.0, 1.6, 0.0, 0.0, 0.0, 1.6 <B>}</B>;
<A NAME="46"><FONT COLOR="#888888"><I>   46   </I></FONT></A>
<A NAME="47"><FONT COLOR="#888888"><I>   47   </I></FONT></A>  <FONT COLOR="#117755"><I>/* %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% */</I></FONT>
<A NAME="48"><FONT COLOR="#888888"><I>   48   </I></FONT></A>  <FONT COLOR="#117755"><I>/*  RPI-MATLAB-Simulator */</I></FONT>
<A NAME="49"><FONT COLOR="#888888"><I>   49   </I></FONT></A>  <FONT COLOR="#117755"><I>/*  http://code.google.com/p/rpi-matlab-simulator/ */</I></FONT>
<A NAME="50"><FONT COLOR="#888888"><I>   50   </I></FONT></A>  <FONT COLOR="#117755"><I>/*  */</I></FONT>
<A NAME="51"><FONT COLOR="#888888"><I>   51   </I></FONT></A>  <A HREF="Body_c.html#fcn_Body" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_Body');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">Body</FONT></A>(&amp;expl_temp);
<A NAME="52"><FONT COLOR="#888888"><I>   52   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 4; i++) <B>{</B>
<A NAME="53"><FONT COLOR="#888888"><I>   53   </I></FONT></A>    t0_name[i] = expl_temp.name[i];
<A NAME="54"><FONT COLOR="#888888"><I>   54   </I></FONT></A>  <B>}</B>
<A NAME="55"><FONT COLOR="#888888"><I>   55   </I></FONT></A>
<A NAME="56"><FONT COLOR="#888888"><I>   56   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 7; i++) <B>{</B>
<A NAME="57"><FONT COLOR="#888888"><I>   57   </I></FONT></A>    t0_type[i] = expl_temp.type[i];
<A NAME="58"><FONT COLOR="#888888"><I>   58   </I></FONT></A>  <B>}</B>
<A NAME="59"><FONT COLOR="#888888"><I>   59   </I></FONT></A>
<A NAME="60"><FONT COLOR="#888888"><I>   60   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 3; i++) <B>{</B>
<A NAME="61"><FONT COLOR="#888888"><I>   61   </I></FONT></A>    t0_u[i] = expl_temp.u[i];
<A NAME="62"><FONT COLOR="#888888"><I>   62   </I></FONT></A>  <B>}</B>
<A NAME="63"><FONT COLOR="#888888"><I>   63   </I></FONT></A>
<A NAME="64"><FONT COLOR="#888888"><I>   64   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 4; i++) <B>{</B>
<A NAME="65"><FONT COLOR="#888888"><I>   65   </I></FONT></A>    t0_quat[i] = expl_temp.quat[i];
<A NAME="66"><FONT COLOR="#888888"><I>   66   </I></FONT></A>  <B>}</B>
<A NAME="67"><FONT COLOR="#888888"><I>   67   </I></FONT></A>
<A NAME="68"><FONT COLOR="#888888"><I>   68   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 9; i++) <B>{</B>
<A NAME="69"><FONT COLOR="#888888"><I>   69   </I></FONT></A>    t0_J[i] = expl_temp.J[i];
<A NAME="70"><FONT COLOR="#888888"><I>   70   </I></FONT></A>  <B>}</B>
<A NAME="71"><FONT COLOR="#888888"><I>   71   </I></FONT></A>
<A NAME="72"><FONT COLOR="#888888"><I>   72   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 6; i++) <B>{</B>
<A NAME="73"><FONT COLOR="#888888"><I>   73   </I></FONT></A>    t0_nu[i] = expl_temp.nu[i];
<A NAME="74"><FONT COLOR="#888888"><I>   74   </I></FONT></A>    t0_Fext[i] = expl_temp.Fext[i];
<A NAME="75"><FONT COLOR="#888888"><I>   75   </I></FONT></A>    t0_Aext[i] = expl_temp.Aext[i];
<A NAME="76"><FONT COLOR="#888888"><I>   76   </I></FONT></A>  <B>}</B>
<A NAME="77"><FONT COLOR="#888888"><I>   77   </I></FONT></A>
<A NAME="78"><FONT COLOR="#888888"><I>   78   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 3; i++) <B>{</B>
<A NAME="79"><FONT COLOR="#888888"><I>   79   </I></FONT></A>    t0_color[i] = expl_temp.color[i];
<A NAME="80"><FONT COLOR="#888888"><I>   80   </I></FONT></A>    t0_AABB_min[i] = expl_temp.AABB_min[i];
<A NAME="81"><FONT COLOR="#888888"><I>   81   </I></FONT></A>    t0_AABB_max[i] = expl_temp.AABB_max[i];
<A NAME="82"><FONT COLOR="#888888"><I>   82   </I></FONT></A>    t0_plane_normal[i] = expl_temp.plane_normal[i];
<A NAME="83"><FONT COLOR="#888888"><I>   83   </I></FONT></A>  <B>}</B>
<A NAME="84"><FONT COLOR="#888888"><I>   84   </I></FONT></A>
<A NAME="85"><FONT COLOR="#888888"><I>   85   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 4; i++) <B>{</B>
<A NAME="86"><FONT COLOR="#888888"><I>   86   </I></FONT></A>    body_data-&gt;name[i] = t0_name[i];
<A NAME="87"><FONT COLOR="#888888"><I>   87   </I></FONT></A>  <B>}</B>
<A NAME="88"><FONT COLOR="#888888"><I>   88   </I></FONT></A>
<A NAME="89"><FONT COLOR="#888888"><I>   89   </I></FONT></A>  body_elems_sizes-&gt;type[0] = 1;
<A NAME="90"><FONT COLOR="#888888"><I>   90   </I></FONT></A>  body_elems_sizes-&gt;type[1] = 7;
<A NAME="91"><FONT COLOR="#888888"><I>   91   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 7; i++) <B>{</B>
<A NAME="92"><FONT COLOR="#888888"><I>   92   </I></FONT></A>    body_data-&gt;type[i] = t0_type[i];
<A NAME="93"><FONT COLOR="#888888"><I>   93   </I></FONT></A>  <B>}</B>
<A NAME="94"><FONT COLOR="#888888"><I>   94   </I></FONT></A>
<A NAME="95"><FONT COLOR="#888888"><I>   95   </I></FONT></A>  body_data-&gt;bodyID = 0.0;
<A NAME="96"><FONT COLOR="#888888"><I>   96   </I></FONT></A>  body_data-&gt;bodyContactID = 0.0;
<A NAME="97"><FONT COLOR="#888888"><I>   97   </I></FONT></A>  body_data-&gt;bodyDynamicID = 0.0;
<A NAME="98"><FONT COLOR="#888888"><I>   98   </I></FONT></A>  body_data-&gt;dynamic = TRUE;
<A NAME="99"><FONT COLOR="#888888"><I>   99   </I></FONT></A>  body_data-&gt;active = FALSE;
<A NAME="100"><FONT COLOR="#888888"><I>  100   </I></FONT></A>  body_data-&gt;mass = 1.0;
<A NAME="101"><FONT COLOR="#888888"><I>  101   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 3; i++) <B>{</B>
<A NAME="102"><FONT COLOR="#888888"><I>  102   </I></FONT></A>    body_data-&gt;u[i] = t0_u[i];
<A NAME="103"><FONT COLOR="#888888"><I>  103   </I></FONT></A>  <B>}</B>
<A NAME="104"><FONT COLOR="#888888"><I>  104   </I></FONT></A>
<A NAME="105"><FONT COLOR="#888888"><I>  105   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 4; i++) <B>{</B>
<A NAME="106"><FONT COLOR="#888888"><I>  106   </I></FONT></A>    body_data-&gt;quat[i] = t0_quat[i];
<A NAME="107"><FONT COLOR="#888888"><I>  107   </I></FONT></A>  <B>}</B>
<A NAME="108"><FONT COLOR="#888888"><I>  108   </I></FONT></A>
<A NAME="109"><FONT COLOR="#888888"><I>  109   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 9; i++) <B>{</B>
<A NAME="110"><FONT COLOR="#888888"><I>  110   </I></FONT></A>    body_data-&gt;J[i] = t0_J[i];
<A NAME="111"><FONT COLOR="#888888"><I>  111   </I></FONT></A>  <B>}</B>
<A NAME="112"><FONT COLOR="#888888"><I>  112   </I></FONT></A>
<A NAME="113"><FONT COLOR="#888888"><I>  113   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 6; i++) <B>{</B>
<A NAME="114"><FONT COLOR="#888888"><I>  114   </I></FONT></A>    body_data-&gt;nu[i] = t0_nu[i];
<A NAME="115"><FONT COLOR="#888888"><I>  115   </I></FONT></A>    body_data-&gt;Fext[i] = t0_Fext[i];
<A NAME="116"><FONT COLOR="#888888"><I>  116   </I></FONT></A>    body_data-&gt;Aext[i] = t0_Aext[i];
<A NAME="117"><FONT COLOR="#888888"><I>  117   </I></FONT></A>  <B>}</B>
<A NAME="118"><FONT COLOR="#888888"><I>  118   </I></FONT></A>
<A NAME="119"><FONT COLOR="#888888"><I>  119   </I></FONT></A>  body_data-&gt;mu = 0.5;
<A NAME="120"><FONT COLOR="#888888"><I>  120   </I></FONT></A>  body_data-&gt;numJoints = 0.0;
<A NAME="121"><FONT COLOR="#888888"><I>  121   </I></FONT></A>  body_data-&gt;visible = TRUE;
<A NAME="122"><FONT COLOR="#888888"><I>  122   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 3; i++) <B>{</B>
<A NAME="123"><FONT COLOR="#888888"><I>  123   </I></FONT></A>    body_data-&gt;color[i] = t0_color[i];
<A NAME="124"><FONT COLOR="#888888"><I>  124   </I></FONT></A>  <B>}</B>
<A NAME="125"><FONT COLOR="#888888"><I>  125   </I></FONT></A>
<A NAME="126"><FONT COLOR="#888888"><I>  126   </I></FONT></A>  body_data-&gt;facealpha = 0.7;
<A NAME="127"><FONT COLOR="#888888"><I>  127   </I></FONT></A>  body_data-&gt;edgealpha = 1.0;
<A NAME="128"><FONT COLOR="#888888"><I>  128   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 3; i++) <B>{</B>
<A NAME="129"><FONT COLOR="#888888"><I>  129   </I></FONT></A>    body_data-&gt;AABB_min[i] = t0_AABB_min[i];
<A NAME="130"><FONT COLOR="#888888"><I>  130   </I></FONT></A>    body_data-&gt;AABB_max[i] = t0_AABB_max[i];
<A NAME="131"><FONT COLOR="#888888"><I>  131   </I></FONT></A>  <B>}</B>
<A NAME="132"><FONT COLOR="#888888"><I>  132   </I></FONT></A>
<A NAME="133"><FONT COLOR="#888888"><I>  133   </I></FONT></A>  body_data-&gt;collides = TRUE;
<A NAME="134"><FONT COLOR="#888888"><I>  134   </I></FONT></A>  body_data-&gt;radius = 1.0;
<A NAME="135"><FONT COLOR="#888888"><I>  135   </I></FONT></A>  body_data-&gt;num_sphere_verts = 7.0;
<A NAME="136"><FONT COLOR="#888888"><I>  136   </I></FONT></A>  body_data-&gt;height = 1.0;
<A NAME="137"><FONT COLOR="#888888"><I>  137   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 3; i++) <B>{</B>
<A NAME="138"><FONT COLOR="#888888"><I>  138   </I></FONT></A>    body_data-&gt;plane_normal[i] = t0_plane_normal[i];
<A NAME="139"><FONT COLOR="#888888"><I>  139   </I></FONT></A>  <B>}</B>
<A NAME="140"><FONT COLOR="#888888"><I>  140   </I></FONT></A>
<A NAME="141"><FONT COLOR="#888888"><I>  141   </I></FONT></A>  body_data-&gt;num_verts = 0.0;
<A NAME="142"><FONT COLOR="#888888"><I>  142   </I></FONT></A>  body_data-&gt;num_edges = 0.0;
<A NAME="143"><FONT COLOR="#888888"><I>  143   </I></FONT></A>  body_data-&gt;num_faces = 0.0;
<A NAME="144"><FONT COLOR="#888888"><I>  144   </I></FONT></A>  body_elems_sizes-&gt;type[0] = 1;
<A NAME="145"><FONT COLOR="#888888"><I>  145   </I></FONT></A>  body_elems_sizes-&gt;type[1] = 6;
<A NAME="146"><FONT COLOR="#888888"><I>  146   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 6; i++) <B>{</B>
<A NAME="147"><FONT COLOR="#888888"><I>  147   </I></FONT></A>    body_data-&gt;type[i] = cv3[i];
<A NAME="148"><FONT COLOR="#888888"><I>  148   </I></FONT></A>  <B>}</B>
<A NAME="149"><FONT COLOR="#888888"><I>  149   </I></FONT></A>
<A NAME="150"><FONT COLOR="#888888"><I>  150   </I></FONT></A>  body_data-&gt;radius = 2.0;
<A NAME="151"><FONT COLOR="#888888"><I>  151   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 9; i++) <B>{</B>
<A NAME="152"><FONT COLOR="#888888"><I>  152   </I></FONT></A>    body_data-&gt;J[i] = y[i];
<A NAME="153"><FONT COLOR="#888888"><I>  153   </I></FONT></A>  <B>}</B>
<A NAME="154"><FONT COLOR="#888888"><I>  154   </I></FONT></A><B>}</B>
<A NAME="155"><FONT COLOR="#888888"><I>  155   </I></FONT></A>
<A NAME="156"><FONT COLOR="#888888"><I>  156   </I></FONT></A><FONT COLOR="#112266"><B>void</B></FONT> <A NAME="fcn_b_Body_sphere">b_Body_sphere</A>(<A HREF="sphere_on_sphere_types_h.html#type_d_struct_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_d_struct_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">d_struct_T</FONT></A> *body_data, <A HREF="sphere_on_sphere_types_h.html#type_struct_T_size" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_struct_T_size');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">struct_T_size</FONT></A> *body_elems_sizes)
<A NAME="157"><FONT COLOR="#888888"><I>  157   </I></FONT></A><B>{</B>
<A NAME="158"><FONT COLOR="#888888"><I>  158   </I></FONT></A>  <A HREF="sphere_on_sphere_types_h.html#type_b_struct_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_b_struct_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">b_struct_T</FONT></A> expl_temp;
<A NAME="159"><FONT COLOR="#888888"><I>  159   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_char_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_char_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">char_T</FONT></A> t1_name[4];
<A NAME="160"><FONT COLOR="#888888"><I>  160   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_int32_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_int32_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">int32_T</FONT></A> i;
<A NAME="161"><FONT COLOR="#888888"><I>  161   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_char_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_char_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">char_T</FONT></A> t1_type[7];
<A NAME="162"><FONT COLOR="#888888"><I>  162   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t1_u[3];
<A NAME="163"><FONT COLOR="#888888"><I>  163   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t1_quat[4];
<A NAME="164"><FONT COLOR="#888888"><I>  164   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t1_J[9];
<A NAME="165"><FONT COLOR="#888888"><I>  165   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t1_nu[6];
<A NAME="166"><FONT COLOR="#888888"><I>  166   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t1_Fext[6];
<A NAME="167"><FONT COLOR="#888888"><I>  167   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t1_Aext[6];
<A NAME="168"><FONT COLOR="#888888"><I>  168   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t1_color[3];
<A NAME="169"><FONT COLOR="#888888"><I>  169   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t1_AABB_min[3];
<A NAME="170"><FONT COLOR="#888888"><I>  170   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t1_AABB_max[3];
<A NAME="171"><FONT COLOR="#888888"><I>  171   </I></FONT></A>  <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> t1_plane_normal[3];
<A NAME="172"><FONT COLOR="#888888"><I>  172   </I></FONT></A>  <FONT COLOR="#112266"><B>static</B></FONT> <FONT COLOR="#112266"><B>const</B></FONT> <A HREF="rtwtypes_h.html#type_char_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_char_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">char_T</FONT></A> cv4[6] = <B>{</B> <FONT COLOR="#1122ff">'s'</FONT>, <FONT COLOR="#1122ff">'p'</FONT>, <FONT COLOR="#1122ff">'h'</FONT>, <FONT COLOR="#1122ff">'e'</FONT>, <FONT COLOR="#1122ff">'r'</FONT>, <FONT COLOR="#1122ff">'e'</FONT> <B>}</B>;
<A NAME="173"><FONT COLOR="#888888"><I>  173   </I></FONT></A>
<A NAME="174"><FONT COLOR="#888888"><I>  174   </I></FONT></A>  <FONT COLOR="#112266"><B>static</B></FONT> <FONT COLOR="#112266"><B>const</B></FONT> <A HREF="rtwtypes_h.html#type_real_T" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_real_T');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">real_T</FONT></A> y[9] = <B>{</B> 0.00625, 0.0, 0.0, 0.0, 0.00625, 0.0, 0.0, 0.0,
<A NAME="175"><FONT COLOR="#888888"><I>  175   </I></FONT></A>    0.00625 <B>}</B>;
<A NAME="176"><FONT COLOR="#888888"><I>  176   </I></FONT></A>
<A NAME="177"><FONT COLOR="#888888"><I>  177   </I></FONT></A>  <FONT COLOR="#117755"><I>/* %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% */</I></FONT>
<A NAME="178"><FONT COLOR="#888888"><I>  178   </I></FONT></A>  <FONT COLOR="#117755"><I>/*  RPI-MATLAB-Simulator */</I></FONT>
<A NAME="179"><FONT COLOR="#888888"><I>  179   </I></FONT></A>  <FONT COLOR="#117755"><I>/*  http://code.google.com/p/rpi-matlab-simulator/ */</I></FONT>
<A NAME="180"><FONT COLOR="#888888"><I>  180   </I></FONT></A>  <FONT COLOR="#117755"><I>/*  */</I></FONT>
<A NAME="181"><FONT COLOR="#888888"><I>  181   </I></FONT></A>  <A HREF="Body_c.html#fcn_Body" ONCLICK="if (top) if (top.docHiliteMe) top.docHiliteMe(window, 'var_Body');" TARGET="rtwreport_document_frame"><FONT COLOR="#1122aa">Body</FONT></A>(&amp;expl_temp);
<A NAME="182"><FONT COLOR="#888888"><I>  182   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 4; i++) <B>{</B>
<A NAME="183"><FONT COLOR="#888888"><I>  183   </I></FONT></A>    t1_name[i] = expl_temp.name[i];
<A NAME="184"><FONT COLOR="#888888"><I>  184   </I></FONT></A>  <B>}</B>
<A NAME="185"><FONT COLOR="#888888"><I>  185   </I></FONT></A>
<A NAME="186"><FONT COLOR="#888888"><I>  186   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 7; i++) <B>{</B>
<A NAME="187"><FONT COLOR="#888888"><I>  187   </I></FONT></A>    t1_type[i] = expl_temp.type[i];
<A NAME="188"><FONT COLOR="#888888"><I>  188   </I></FONT></A>  <B>}</B>
<A NAME="189"><FONT COLOR="#888888"><I>  189   </I></FONT></A>
<A NAME="190"><FONT COLOR="#888888"><I>  190   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 3; i++) <B>{</B>
<A NAME="191"><FONT COLOR="#888888"><I>  191   </I></FONT></A>    t1_u[i] = expl_temp.u[i];
<A NAME="192"><FONT COLOR="#888888"><I>  192   </I></FONT></A>  <B>}</B>
<A NAME="193"><FONT COLOR="#888888"><I>  193   </I></FONT></A>
<A NAME="194"><FONT COLOR="#888888"><I>  194   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 4; i++) <B>{</B>
<A NAME="195"><FONT COLOR="#888888"><I>  195   </I></FONT></A>    t1_quat[i] = expl_temp.quat[i];
<A NAME="196"><FONT COLOR="#888888"><I>  196   </I></FONT></A>  <B>}</B>
<A NAME="197"><FONT COLOR="#888888"><I>  197   </I></FONT></A>
<A NAME="198"><FONT COLOR="#888888"><I>  198   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 9; i++) <B>{</B>
<A NAME="199"><FONT COLOR="#888888"><I>  199   </I></FONT></A>    t1_J[i] = expl_temp.J[i];
<A NAME="200"><FONT COLOR="#888888"><I>  200   </I></FONT></A>  <B>}</B>
<A NAME="201"><FONT COLOR="#888888"><I>  201   </I></FONT></A>
<A NAME="202"><FONT COLOR="#888888"><I>  202   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 6; i++) <B>{</B>
<A NAME="203"><FONT COLOR="#888888"><I>  203   </I></FONT></A>    t1_nu[i] = expl_temp.nu[i];
<A NAME="204"><FONT COLOR="#888888"><I>  204   </I></FONT></A>    t1_Fext[i] = expl_temp.Fext[i];
<A NAME="205"><FONT COLOR="#888888"><I>  205   </I></FONT></A>    t1_Aext[i] = expl_temp.Aext[i];
<A NAME="206"><FONT COLOR="#888888"><I>  206   </I></FONT></A>  <B>}</B>
<A NAME="207"><FONT COLOR="#888888"><I>  207   </I></FONT></A>
<A NAME="208"><FONT COLOR="#888888"><I>  208   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 3; i++) <B>{</B>
<A NAME="209"><FONT COLOR="#888888"><I>  209   </I></FONT></A>    t1_color[i] = expl_temp.color[i];
<A NAME="210"><FONT COLOR="#888888"><I>  210   </I></FONT></A>    t1_AABB_min[i] = expl_temp.AABB_min[i];
<A NAME="211"><FONT COLOR="#888888"><I>  211   </I></FONT></A>    t1_AABB_max[i] = expl_temp.AABB_max[i];
<A NAME="212"><FONT COLOR="#888888"><I>  212   </I></FONT></A>    t1_plane_normal[i] = expl_temp.plane_normal[i];
<A NAME="213"><FONT COLOR="#888888"><I>  213   </I></FONT></A>  <B>}</B>
<A NAME="214"><FONT COLOR="#888888"><I>  214   </I></FONT></A>
<A NAME="215"><FONT COLOR="#888888"><I>  215   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 4; i++) <B>{</B>
<A NAME="216"><FONT COLOR="#888888"><I>  216   </I></FONT></A>    body_data-&gt;name[i] = t1_name[i];
<A NAME="217"><FONT COLOR="#888888"><I>  217   </I></FONT></A>  <B>}</B>
<A NAME="218"><FONT COLOR="#888888"><I>  218   </I></FONT></A>
<A NAME="219"><FONT COLOR="#888888"><I>  219   </I></FONT></A>  body_elems_sizes-&gt;type[0] = 1;
<A NAME="220"><FONT COLOR="#888888"><I>  220   </I></FONT></A>  body_elems_sizes-&gt;type[1] = 7;
<A NAME="221"><FONT COLOR="#888888"><I>  221   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 7; i++) <B>{</B>
<A NAME="222"><FONT COLOR="#888888"><I>  222   </I></FONT></A>    body_data-&gt;type[i] = t1_type[i];
<A NAME="223"><FONT COLOR="#888888"><I>  223   </I></FONT></A>  <B>}</B>
<A NAME="224"><FONT COLOR="#888888"><I>  224   </I></FONT></A>
<A NAME="225"><FONT COLOR="#888888"><I>  225   </I></FONT></A>  body_data-&gt;bodyID = 0.0;
<A NAME="226"><FONT COLOR="#888888"><I>  226   </I></FONT></A>  body_data-&gt;bodyContactID = 0.0;
<A NAME="227"><FONT COLOR="#888888"><I>  227   </I></FONT></A>  body_data-&gt;bodyDynamicID = 0.0;
<A NAME="228"><FONT COLOR="#888888"><I>  228   </I></FONT></A>  body_data-&gt;dynamic = TRUE;
<A NAME="229"><FONT COLOR="#888888"><I>  229   </I></FONT></A>  body_data-&gt;active = FALSE;
<A NAME="230"><FONT COLOR="#888888"><I>  230   </I></FONT></A>  body_data-&gt;mass = 1.0;
<A NAME="231"><FONT COLOR="#888888"><I>  231   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 3; i++) <B>{</B>
<A NAME="232"><FONT COLOR="#888888"><I>  232   </I></FONT></A>    body_data-&gt;u[i] = t1_u[i];
<A NAME="233"><FONT COLOR="#888888"><I>  233   </I></FONT></A>  <B>}</B>
<A NAME="234"><FONT COLOR="#888888"><I>  234   </I></FONT></A>
<A NAME="235"><FONT COLOR="#888888"><I>  235   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 4; i++) <B>{</B>
<A NAME="236"><FONT COLOR="#888888"><I>  236   </I></FONT></A>    body_data-&gt;quat[i] = t1_quat[i];
<A NAME="237"><FONT COLOR="#888888"><I>  237   </I></FONT></A>  <B>}</B>
<A NAME="238"><FONT COLOR="#888888"><I>  238   </I></FONT></A>
<A NAME="239"><FONT COLOR="#888888"><I>  239   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 9; i++) <B>{</B>
<A NAME="240"><FONT COLOR="#888888"><I>  240   </I></FONT></A>    body_data-&gt;J[i] = t1_J[i];
<A NAME="241"><FONT COLOR="#888888"><I>  241   </I></FONT></A>  <B>}</B>
<A NAME="242"><FONT COLOR="#888888"><I>  242   </I></FONT></A>
<A NAME="243"><FONT COLOR="#888888"><I>  243   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 6; i++) <B>{</B>
<A NAME="244"><FONT COLOR="#888888"><I>  244   </I></FONT></A>    body_data-&gt;nu[i] = t1_nu[i];
<A NAME="245"><FONT COLOR="#888888"><I>  245   </I></FONT></A>    body_data-&gt;Fext[i] = t1_Fext[i];
<A NAME="246"><FONT COLOR="#888888"><I>  246   </I></FONT></A>    body_data-&gt;Aext[i] = t1_Aext[i];
<A NAME="247"><FONT COLOR="#888888"><I>  247   </I></FONT></A>  <B>}</B>
<A NAME="248"><FONT COLOR="#888888"><I>  248   </I></FONT></A>
<A NAME="249"><FONT COLOR="#888888"><I>  249   </I></FONT></A>  body_data-&gt;mu = 0.5;
<A NAME="250"><FONT COLOR="#888888"><I>  250   </I></FONT></A>  body_data-&gt;numJoints = 0.0;
<A NAME="251"><FONT COLOR="#888888"><I>  251   </I></FONT></A>  body_data-&gt;visible = TRUE;
<A NAME="252"><FONT COLOR="#888888"><I>  252   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 3; i++) <B>{</B>
<A NAME="253"><FONT COLOR="#888888"><I>  253   </I></FONT></A>    body_data-&gt;color[i] = t1_color[i];
<A NAME="254"><FONT COLOR="#888888"><I>  254   </I></FONT></A>  <B>}</B>
<A NAME="255"><FONT COLOR="#888888"><I>  255   </I></FONT></A>
<A NAME="256"><FONT COLOR="#888888"><I>  256   </I></FONT></A>  body_data-&gt;facealpha = 0.7;
<A NAME="257"><FONT COLOR="#888888"><I>  257   </I></FONT></A>  body_data-&gt;edgealpha = 1.0;
<A NAME="258"><FONT COLOR="#888888"><I>  258   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 3; i++) <B>{</B>
<A NAME="259"><FONT COLOR="#888888"><I>  259   </I></FONT></A>    body_data-&gt;AABB_min[i] = t1_AABB_min[i];
<A NAME="260"><FONT COLOR="#888888"><I>  260   </I></FONT></A>    body_data-&gt;AABB_max[i] = t1_AABB_max[i];
<A NAME="261"><FONT COLOR="#888888"><I>  261   </I></FONT></A>  <B>}</B>
<A NAME="262"><FONT COLOR="#888888"><I>  262   </I></FONT></A>
<A NAME="263"><FONT COLOR="#888888"><I>  263   </I></FONT></A>  body_data-&gt;collides = TRUE;
<A NAME="264"><FONT COLOR="#888888"><I>  264   </I></FONT></A>  body_data-&gt;radius = 1.0;
<A NAME="265"><FONT COLOR="#888888"><I>  265   </I></FONT></A>  body_data-&gt;num_sphere_verts = 7.0;
<A NAME="266"><FONT COLOR="#888888"><I>  266   </I></FONT></A>  body_data-&gt;height = 1.0;
<A NAME="267"><FONT COLOR="#888888"><I>  267   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 3; i++) <B>{</B>
<A NAME="268"><FONT COLOR="#888888"><I>  268   </I></FONT></A>    body_data-&gt;plane_normal[i] = t1_plane_normal[i];
<A NAME="269"><FONT COLOR="#888888"><I>  269   </I></FONT></A>  <B>}</B>
<A NAME="270"><FONT COLOR="#888888"><I>  270   </I></FONT></A>
<A NAME="271"><FONT COLOR="#888888"><I>  271   </I></FONT></A>  body_data-&gt;num_verts = 0.0;
<A NAME="272"><FONT COLOR="#888888"><I>  272   </I></FONT></A>  body_data-&gt;num_edges = 0.0;
<A NAME="273"><FONT COLOR="#888888"><I>  273   </I></FONT></A>  body_data-&gt;num_faces = 0.0;
<A NAME="274"><FONT COLOR="#888888"><I>  274   </I></FONT></A>  body_elems_sizes-&gt;type[0] = 1;
<A NAME="275"><FONT COLOR="#888888"><I>  275   </I></FONT></A>  body_elems_sizes-&gt;type[1] = 6;
<A NAME="276"><FONT COLOR="#888888"><I>  276   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 6; i++) <B>{</B>
<A NAME="277"><FONT COLOR="#888888"><I>  277   </I></FONT></A>    body_data-&gt;type[i] = cv4[i];
<A NAME="278"><FONT COLOR="#888888"><I>  278   </I></FONT></A>  <B>}</B>
<A NAME="279"><FONT COLOR="#888888"><I>  279   </I></FONT></A>
<A NAME="280"><FONT COLOR="#888888"><I>  280   </I></FONT></A>  body_data-&gt;radius = 0.25;
<A NAME="281"><FONT COLOR="#888888"><I>  281   </I></FONT></A>  <FONT COLOR="#112266"><B>for</B></FONT> (i = 0; i &lt; 9; i++) <B>{</B>
<A NAME="282"><FONT COLOR="#888888"><I>  282   </I></FONT></A>    body_data-&gt;J[i] = y[i];
<A NAME="283"><FONT COLOR="#888888"><I>  283   </I></FONT></A>  <B>}</B>
<A NAME="284"><FONT COLOR="#888888"><I>  284   </I></FONT></A><B>}</B>
<A NAME="285"><FONT COLOR="#888888"><I>  285   </I></FONT></A>
<A NAME="286"><FONT COLOR="#888888"><I>  286   </I></FONT></A><FONT COLOR="#117755"><I>/* End of code generation (Body_sphere.c) */</I></FONT>
<A NAME="287"><FONT COLOR="#888888"><I>  287   </I></FONT></A></PRE>
</TD></TR></TABLE>
</P>
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